In addition to using LiDAR data, several previous works use images [1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]} or high definition maps [8]} to improve detections. In this paper, we only utilize LiDAR data and leave sensor fusion as future work. Some approaches [9]}, [10]}, [11]}, [12]} have tried to tackle 3D detection without using range data from LiDAR. However, the accuracy of these methods do not reach the performance of LiDAR based methods.
